1099 lines
52 KiB
C#
1099 lines
52 KiB
C#
using System;
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using System.Collections.Generic;
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using System.Collections.ObjectModel;
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using System.Threading;
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using MultiWheelC.TrajectoryPlanning.CoarsePath;
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using MultiWheelC.TrajectoryPlanning.PathSmoothing.Processing;
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using MultiWheelC.TrajectoryPlanning.Utils;
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namespace MultiWheelC.TrajectoryPlanning.PathSmoothing.LocalG2;
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/// <summary>以固定窗口和尺度顺序构造有限的局部五次 Hermite G2 候选。</summary>
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internal sealed class LocalG2CandidateBuilder
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{
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private const double MinimumDerivativeNorm = 1e-10d;
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private const int MaximumDerivativeCertificationDepth = 40;
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private const int MaximumDerivativeCertificationIntervals = 8192;
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private const double DerivativeCertificationMargin = 1e-12d;
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private const int MaximumSubdivisionDepth = 32;
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private static readonly double[] DerivativeScaleMultipliers = { 1d, 0.85d, 1.15d };
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internal IReadOnlyList<LocalG2CandidateGeometry> Build(
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PreparedDirectionSegment originalSegment,
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LocalG2SmoothingRegion region,
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double outputSpacingMeters,
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LocalG2OptionsSnapshot options,
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CancellationToken cancellationToken)
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{
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if (!IsValidInput(originalSegment, region, outputSpacingMeters, options)) return Empty();
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var candidates = new List<LocalG2CandidateGeometry>();
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for (int windowIndex = 0; windowIndex < region.WindowVariants.Count; windowIndex++)
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{
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LocalG2WindowVariant window = region.WindowVariants[windowIndex];
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for (int scaleIndex = 0; scaleIndex < DerivativeScaleMultipliers.Length; scaleIndex++)
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{
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cancellationToken.ThrowIfCancellationRequested();
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if (candidates.Count >= Math.Min(options.MaximumCandidatesPerRegion, 12)) return ReadOnly(candidates);
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if (TryBuildCandidate(
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candidates.Count,
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originalSegment,
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region,
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window,
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DerivativeScaleMultipliers[scaleIndex],
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outputSpacingMeters,
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cancellationToken,
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out LocalG2CandidateGeometry candidate))
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{
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candidates.Add(candidate);
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}
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}
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}
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return ReadOnly(candidates);
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}
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private static bool TryBuildCandidate(
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int candidateIndex,
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PreparedDirectionSegment segment,
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LocalG2SmoothingRegion region,
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LocalG2WindowVariant window,
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double multiplier,
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double outputSpacingMeters,
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CancellationToken cancellationToken,
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out LocalG2CandidateGeometry candidate)
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{
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candidate = null;
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if (!PathReferenceInterpolator.TryInterpolateByArcLength(segment.Points, window.StartArcLengthMeters, out SmoothingPoint2D startReference, out _) ||
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!PathReferenceInterpolator.TryInterpolateByArcLength(segment.Points, window.EndArcLengthMeters, out SmoothingPoint2D endReference, out _))
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{
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return false;
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}
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double directionSign = segment.Direction == TravelDirection.Forward ? 1d : -1d;
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CurvatureTransition first = region.Transitions[0];
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CurvatureTransition last = region.Transitions[region.Transitions.Count - 1];
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bool firstAtStart = SameArc(first.LocalArcLengthMeters, window.StartArcLengthMeters);
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bool lastAtEnd = SameArc(last.LocalArcLengthMeters, window.EndArcLengthMeters);
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double startVehicleCurvature = firstAtStart && segment.StartVehicleCurvaturePerMeter.HasValue
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? segment.StartVehicleCurvaturePerMeter.Value
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: first.LeftVehicleCurvaturePerMeter;
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double endVehicleCurvature = last.RightVehicleCurvaturePerMeter;
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if (!NumericGuard.IsFinite(startVehicleCurvature) || !NumericGuard.IsFinite(endVehicleCurvature)) return false;
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var nodes = new List<BoundaryNode>();
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nodes.Add(new BoundaryNode(window.StartArcLengthMeters, startReference.X, startReference.Y,
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startReference.Heading, startVehicleCurvature));
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for (int transitionIndex = 0; transitionIndex < region.Transitions.Count; transitionIndex++)
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{
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CurvatureTransition transition = region.Transitions[transitionIndex];
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bool atStart = SameArc(transition.LocalArcLengthMeters, window.StartArcLengthMeters);
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bool atEnd = SameArc(transition.LocalArcLengthMeters, window.EndArcLengthMeters);
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// A one-sided transition at a hard segment boundary has no left/right zero-length piece.
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if (atStart || atEnd) continue;
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double leftAvailable = transition.LocalArcLengthMeters - window.StartArcLengthMeters;
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double rightAvailable = window.EndArcLengthMeters - transition.LocalArcLengthMeters;
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double denominator = leftAvailable + rightAvailable;
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if (!NumericGuard.IsPositiveFinite(denominator)) return false;
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double sharedCurvature = transition.LeftVehicleCurvaturePerMeter +
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(transition.RightVehicleCurvaturePerMeter - transition.LeftVehicleCurvaturePerMeter) * leftAvailable / denominator;
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if (!NumericGuard.IsFinite(sharedCurvature)) return false;
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nodes.Add(new BoundaryNode(transition.LocalArcLengthMeters, transition.X, transition.Y,
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transition.VehicleHeadingRadians, sharedCurvature));
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}
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nodes.Add(new BoundaryNode(window.EndArcLengthMeters, endReference.X, endReference.Y,
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endReference.Heading, endVehicleCurvature));
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if (!TryAssignDerivativeScales(nodes, multiplier) || nodes.Count < 2) return false;
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var sampled = new List<SmoothingPoint2D>();
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for (int nodeIndex = 1; nodeIndex < nodes.Count; nodeIndex++)
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{
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cancellationToken.ThrowIfCancellationRequested();
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BoundaryNode left = nodes[nodeIndex - 1];
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BoundaryNode right = nodes[nodeIndex];
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if (!TryCreateCurve(left, right, directionSign, out QuinticHermiteCurve2D curve)) return false;
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if (!TryAppendCurveSamples(
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curve,
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left,
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right,
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segment,
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outputSpacingMeters,
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sampled,
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cancellationToken))
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{
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return false;
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}
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}
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if (sampled.Count < 2) return false;
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candidate = new LocalG2CandidateGeometry(
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candidateIndex,
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segment.SegmentIndex,
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window.StartArcLengthMeters,
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window.EndArcLengthMeters,
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window.LeftWindowLengthMeters,
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window.RightWindowLengthMeters,
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sampled,
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startVehicleCurvature,
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endVehicleCurvature,
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directionSign * startVehicleCurvature,
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directionSign * endVehicleCurvature,
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true);
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return true;
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}
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private static bool TryAssignDerivativeScales(List<BoundaryNode> nodes, double multiplier)
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{
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if (!NumericGuard.IsPositiveFinite(multiplier)) return false;
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for (int index = 0; index < nodes.Count; index++)
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{
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double scale;
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if (index == 0) scale = nodes[1].ArcLengthMeters - nodes[0].ArcLengthMeters;
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else if (index == nodes.Count - 1) scale = nodes[index].ArcLengthMeters - nodes[index - 1].ArcLengthMeters;
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else scale = ((nodes[index].ArcLengthMeters - nodes[index - 1].ArcLengthMeters) +
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(nodes[index + 1].ArcLengthMeters - nodes[index].ArcLengthMeters)) / 2d;
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scale *= multiplier;
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if (!NumericGuard.IsPositiveFinite(scale)) return false;
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nodes[index] = nodes[index].WithDerivativeScale(scale);
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}
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return true;
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}
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private static bool TryCreateCurve(BoundaryNode left, BoundaryNode right, double directionSign, out QuinticHermiteCurve2D curve)
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{
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curve = null;
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if (!TryGetDerivatives(left, directionSign, out double ldx, out double ldy, out double lddx, out double lddy) ||
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!TryGetDerivatives(right, directionSign, out double rdx, out double rdy, out double rddx, out double rddy))
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{
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return false;
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}
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return QuinticHermiteCurve2D.TryCreate(left.X, left.Y, ldx, ldy, lddx, lddy,
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right.X, right.Y, rdx, rdy, rddx, rddy, out curve, out _);
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}
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private static bool TryGetDerivatives(BoundaryNode node, double directionSign,
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out double dx, out double dy, out double ddx, out double ddy)
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{
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dx = dy = ddx = ddy = 0d;
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double travelHeading = directionSign > 0d ? node.VehicleHeadingRadians : node.VehicleHeadingRadians - Math.PI;
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double geometricCurvature = directionSign * node.VehicleCurvaturePerMeter;
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double tx = Math.Cos(travelHeading);
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double ty = Math.Sin(travelHeading);
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double nx = -ty;
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double ny = tx;
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dx = node.DerivativeScale * tx;
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dy = node.DerivativeScale * ty;
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ddx = node.DerivativeScale * node.DerivativeScale * geometricCurvature * nx;
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ddy = node.DerivativeScale * node.DerivativeScale * geometricCurvature * ny;
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return NumericGuard.IsFinite(dx) && NumericGuard.IsFinite(dy) && NumericGuard.IsFinite(ddx) && NumericGuard.IsFinite(ddy) &&
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Math.Sqrt(dx * dx + dy * dy) >= MinimumDerivativeNorm;
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}
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private static bool TryAppendCurveSamples(
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QuinticHermiteCurve2D curve,
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BoundaryNode left,
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BoundaryNode right,
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PreparedDirectionSegment segment,
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double outputSpacingMeters,
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List<SmoothingPoint2D> output,
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CancellationToken cancellationToken)
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{
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// A short endpoint chord and a finite sample grid cannot rule out an interior cusp.
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// Certify a derivative-norm lower bound over the whole parameter interval first.
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if (!TryCertifyDerivativeLowerBound(curve)) return false;
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if (!TryEvaluate(curve, 0d, out CurveSample start) || !TryEvaluate(curve, 1d, out CurveSample end)) return false;
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if (output.Count == 0 && !TryAppendPoint(start, left, right, segment, output)) return false;
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return TrySubdivide(curve, left, right, segment, outputSpacingMeters, 0d, start, 1d, end, 0, output, cancellationToken);
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}
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private static bool TrySubdivide(
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QuinticHermiteCurve2D curve,
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BoundaryNode left,
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BoundaryNode right,
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PreparedDirectionSegment segment,
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double outputSpacingMeters,
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double u0,
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CurveSample sample0,
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double u1,
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CurveSample sample1,
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int depth,
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List<SmoothingPoint2D> output,
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CancellationToken cancellationToken)
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{
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cancellationToken.ThrowIfCancellationRequested();
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if (Distance(sample0, sample1) <= outputSpacingMeters)
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{
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return TryAppendPoint(sample1, left, right, segment, output);
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}
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if (depth >= MaximumSubdivisionDepth) return false;
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double middle = (u0 + u1) / 2d;
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if (!TryEvaluate(curve, middle, out CurveSample middleSample)) return false;
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return TrySubdivide(curve, left, right, segment, outputSpacingMeters, u0, sample0, middle, middleSample,
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depth + 1, output, cancellationToken) &&
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TrySubdivide(curve, left, right, segment, outputSpacingMeters, middle, middleSample, u1, sample1,
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depth + 1, output, cancellationToken);
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}
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private static bool TryAppendPoint(
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CurveSample sample,
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BoundaryNode left,
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BoundaryNode right,
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PreparedDirectionSegment segment,
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List<SmoothingPoint2D> output)
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{
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double referenceArcLength = left.ArcLengthMeters + (right.ArcLengthMeters - left.ArcLengthMeters) * sample.Parameter;
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if (!PathReferenceInterpolator.TryInterpolateByArcLength(segment.Points, referenceArcLength, out SmoothingPoint2D reference, out _))
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return false;
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double x = SameArc(sample.Parameter, 0d) ? left.X : SameArc(sample.Parameter, 1d) ? right.X : sample.X;
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double y = SameArc(sample.Parameter, 0d) ? left.Y : SameArc(sample.Parameter, 1d) ? right.Y : sample.Y;
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double travelHeading = Math.Atan2(sample.Dy, sample.Dx);
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double vehicleHeading = segment.Direction == TravelDirection.Forward ? travelHeading : travelHeading + Math.PI;
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if (!NumericGuard.IsFinite(x) || !NumericGuard.IsFinite(y) || !NumericGuard.IsFinite(travelHeading) || !NumericGuard.IsFinite(vehicleHeading)) return false;
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if (output.Count > 0 && Distance(output[output.Count - 1], x, y) <= 1e-12d) return false;
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output.Add(new SmoothingPoint2D(
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x,
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y,
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referenceArcLength,
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AngleMath.NormalizeRadians(vehicleHeading),
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vehicleHeading,
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reference.BodyClearance,
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false,
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SmoothedPathPointSource.LocalG2Transition));
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return true;
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}
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private static bool TryEvaluate(QuinticHermiteCurve2D curve, double parameter, out CurveSample sample)
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{
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sample = default;
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curve.Evaluate(parameter, out double x, out double y, out double dx, out double dy, out double ddx, out double ddy);
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double derivativeNorm = Math.Sqrt(dx * dx + dy * dy);
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if (!NumericGuard.IsFinite(x) || !NumericGuard.IsFinite(y) || !NumericGuard.IsFinite(dx) || !NumericGuard.IsFinite(dy) ||
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!NumericGuard.IsFinite(ddx) || !NumericGuard.IsFinite(ddy) || !NumericGuard.IsFinite(derivativeNorm) ||
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derivativeNorm < MinimumDerivativeNorm)
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{
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return false;
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}
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sample = new CurveSample(parameter, x, y, dx, dy);
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return true;
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}
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private static bool TryCertifyDerivativeLowerBound(QuinticHermiteCurve2D curve)
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{
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if (!TryCreateDerivativeBezierControls(curve, out DerivativeControlPoint d0, out DerivativeControlPoint d1,
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out DerivativeControlPoint d2, out DerivativeControlPoint d3, out DerivativeControlPoint d4))
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{
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return false;
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}
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int visitedIntervals = 0;
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return TryCertifyDerivativeLowerBound(d0, d1, d2, d3, d4, 0, ref visitedIntervals);
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}
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private static bool TryCreateDerivativeBezierControls(
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QuinticHermiteCurve2D curve,
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out DerivativeControlPoint d0,
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out DerivativeControlPoint d1,
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out DerivativeControlPoint d2,
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out DerivativeControlPoint d3,
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out DerivativeControlPoint d4)
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{
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d0 = d1 = d2 = d3 = d4 = default;
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curve.Evaluate(0d, out _, out _, out double dx0, out double dy0, out double ddx0, out double ddy0);
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curve.Evaluate(0.5d, out _, out _, out double dxMiddle, out double dyMiddle, out _, out _);
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curve.Evaluate(1d, out _, out _, out double dxEnd, out double dyEnd, out double ddxEnd, out double ddyEnd);
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d0 = new DerivativeControlPoint(dx0, dy0);
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d1 = new DerivativeControlPoint(dx0 + ddx0 / 4d, dy0 + ddy0 / 4d);
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d4 = new DerivativeControlPoint(dxEnd, dyEnd);
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d3 = new DerivativeControlPoint(dxEnd - ddxEnd / 4d, dyEnd - ddyEnd / 4d);
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d2 = new DerivativeControlPoint(
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(16d * dxMiddle - d0.X - 4d * d1.X - 4d * d3.X - d4.X) / 6d,
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(16d * dyMiddle - d0.Y - 4d * d1.Y - 4d * d3.Y - d4.Y) / 6d);
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return d0.IsFinite && d1.IsFinite && d2.IsFinite && d3.IsFinite && d4.IsFinite;
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}
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private static bool TryCertifyDerivativeLowerBound(
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DerivativeControlPoint d0,
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DerivativeControlPoint d1,
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DerivativeControlPoint d2,
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DerivativeControlPoint d3,
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DerivativeControlPoint d4,
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int depth,
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ref int visitedIntervals)
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{
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if (++visitedIntervals > MaximumDerivativeCertificationIntervals) return false;
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if (!TryGetOriginToConvexHullDistance(d0, d1, d2, d3, d4, out double lowerBound, out double margin))
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return false;
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if (lowerBound > MinimumDerivativeNorm + margin) return true;
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if (depth >= MaximumDerivativeCertificationDepth) return false;
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DerivativeControlPoint d01 = Midpoint(d0, d1);
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DerivativeControlPoint d12 = Midpoint(d1, d2);
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DerivativeControlPoint d23 = Midpoint(d2, d3);
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DerivativeControlPoint d34 = Midpoint(d3, d4);
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DerivativeControlPoint d012 = Midpoint(d01, d12);
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DerivativeControlPoint d123 = Midpoint(d12, d23);
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DerivativeControlPoint d234 = Midpoint(d23, d34);
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DerivativeControlPoint d0123 = Midpoint(d012, d123);
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DerivativeControlPoint d1234 = Midpoint(d123, d234);
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DerivativeControlPoint middle = Midpoint(d0123, d1234);
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if (!d01.IsFinite || !d12.IsFinite || !d23.IsFinite || !d34.IsFinite || !d012.IsFinite || !d123.IsFinite ||
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!d234.IsFinite || !d0123.IsFinite || !d1234.IsFinite || !middle.IsFinite)
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{
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return false;
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}
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return TryCertifyDerivativeLowerBound(d0, d01, d012, d0123, middle, depth + 1, ref visitedIntervals) &&
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TryCertifyDerivativeLowerBound(middle, d1234, d234, d34, d4, depth + 1, ref visitedIntervals);
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}
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private static bool TryGetOriginToConvexHullDistance(
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DerivativeControlPoint d0,
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DerivativeControlPoint d1,
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DerivativeControlPoint d2,
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DerivativeControlPoint d3,
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DerivativeControlPoint d4,
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out double distance,
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out double margin)
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{
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distance = 0d;
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margin = 0d;
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var controls = new[] { d0, d1, d2, d3, d4 };
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double maximumCoordinate = 0d;
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for (int index = 0; index < controls.Length; index++)
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{
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if (!controls[index].IsFinite) return false;
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maximumCoordinate = Math.Max(maximumCoordinate, Math.Max(Math.Abs(controls[index].X), Math.Abs(controls[index].Y)));
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}
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if (!NumericGuard.IsFinite(maximumCoordinate)) return false;
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margin = DerivativeCertificationMargin * Math.Max(1d, maximumCoordinate);
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for (int first = 0; first < controls.Length - 2; first++)
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{
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for (int second = first + 1; second < controls.Length - 1; second++)
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{
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for (int third = second + 1; third < controls.Length; third++)
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{
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if (ContainsOrigin(controls[first], controls[second], controls[third], margin)) return true;
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}
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}
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}
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distance = double.PositiveInfinity;
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for (int first = 0; first < controls.Length; first++)
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{
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distance = Math.Min(distance, controls[first].Norm);
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for (int second = first + 1; second < controls.Length; second++)
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distance = Math.Min(distance, DistanceToSegment(controls[first], controls[second]));
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}
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return NumericGuard.IsFinite(distance);
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}
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private static bool ContainsOrigin(DerivativeControlPoint first, DerivativeControlPoint second,
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DerivativeControlPoint third, double margin)
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{
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double sideX = second.X - first.X;
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double sideY = second.Y - first.Y;
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double thirdOffsetX = third.X - first.X;
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double thirdOffsetY = third.Y - first.Y;
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double triangleArea = sideX * thirdOffsetY - sideY * thirdOffsetX;
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double crossFirstSecond = Cross(first, second);
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double crossSecondThird = Cross(second, third);
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double crossThirdFirst = Cross(third, first);
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if (!NumericGuard.IsFinite(triangleArea) || !NumericGuard.IsFinite(crossFirstSecond) ||
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!NumericGuard.IsFinite(crossSecondThird) || !NumericGuard.IsFinite(crossThirdFirst))
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{
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return true;
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}
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double areaMargin = margin * Math.Max(1d, Math.Max(first.Norm, Math.Max(second.Norm, third.Norm)));
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if (!NumericGuard.IsFinite(areaMargin)) return true;
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if (Math.Abs(triangleArea) <= areaMargin)
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{
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// A degenerate triangle is only a closed line segment (or a point), not a
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// two-dimensional region. Treat it as origin-containing only when the origin
|
|
// lies on one of its actual closed segments; otherwise its distance is positive.
|
|
return IsOriginOnSegment(first, second, margin) || IsOriginOnSegment(second, third, margin) ||
|
|
IsOriginOnSegment(third, first, margin);
|
|
}
|
|
return (crossFirstSecond >= -areaMargin && crossSecondThird >= -areaMargin && crossThirdFirst >= -areaMargin) ||
|
|
(crossFirstSecond <= areaMargin && crossSecondThird <= areaMargin && crossThirdFirst <= areaMargin);
|
|
}
|
|
|
|
private static bool IsOriginOnSegment(DerivativeControlPoint start, DerivativeControlPoint end, double margin)
|
|
{
|
|
double dx = end.X - start.X;
|
|
double dy = end.Y - start.Y;
|
|
double lengthSquared = dx * dx + dy * dy;
|
|
if (!NumericGuard.IsFinite(lengthSquared)) return true;
|
|
if (lengthSquared == 0d) return start.Norm <= margin;
|
|
double length = Math.Sqrt(lengthSquared);
|
|
double cross = Cross(start, end);
|
|
double projection = -(start.X * dx + start.Y * dy);
|
|
if (!NumericGuard.IsFinite(length) || !NumericGuard.IsFinite(cross) || !NumericGuard.IsFinite(projection)) return true;
|
|
double lineMargin = margin * Math.Max(1d, length);
|
|
double projectionMargin = margin * Math.Max(1d, length);
|
|
if (!NumericGuard.IsFinite(lineMargin) || !NumericGuard.IsFinite(projectionMargin)) return true;
|
|
return Math.Abs(cross) <= lineMargin && projection >= -projectionMargin &&
|
|
projection <= lengthSquared + projectionMargin;
|
|
}
|
|
|
|
private static double DistanceToSegment(DerivativeControlPoint start, DerivativeControlPoint end)
|
|
{
|
|
double dx = end.X - start.X;
|
|
double dy = end.Y - start.Y;
|
|
double denominator = dx * dx + dy * dy;
|
|
if (!NumericGuard.IsFinite(denominator)) return double.NaN;
|
|
if (denominator == 0d) return start.Norm;
|
|
double parameter = -(start.X * dx + start.Y * dy) / denominator;
|
|
if (!NumericGuard.IsFinite(parameter)) return double.NaN;
|
|
parameter = Math.Max(0d, Math.Min(1d, parameter));
|
|
double x = start.X + parameter * dx;
|
|
double y = start.Y + parameter * dy;
|
|
return Math.Sqrt(x * x + y * y);
|
|
}
|
|
|
|
private static DerivativeControlPoint Midpoint(DerivativeControlPoint left, DerivativeControlPoint right) =>
|
|
new DerivativeControlPoint((left.X + right.X) / 2d, (left.Y + right.Y) / 2d);
|
|
private static double Cross(DerivativeControlPoint left, DerivativeControlPoint right) => left.X * right.Y - left.Y * right.X;
|
|
|
|
private static bool IsValidInput(PreparedDirectionSegment segment, LocalG2SmoothingRegion region,
|
|
double outputSpacingMeters, LocalG2OptionsSnapshot options)
|
|
{
|
|
if (segment == null || region == null || options == null || segment.SegmentIndex != region.SegmentIndex ||
|
|
!NumericGuard.IsPositiveFinite(outputSpacingMeters) || segment.Points == null || segment.Points.Count < 2 ||
|
|
region.Transitions == null || region.Transitions.Count == 0 || region.WindowVariants == null)
|
|
{
|
|
return false;
|
|
}
|
|
for (int index = 0; index < region.Transitions.Count; index++)
|
|
{
|
|
CurvatureTransition transition = region.Transitions[index];
|
|
if (transition == null || transition.SegmentIndex != segment.SegmentIndex) return false;
|
|
}
|
|
return true;
|
|
}
|
|
|
|
private static double Distance(CurveSample left, CurveSample right) => Distance(left.X, left.Y, right.X, right.Y);
|
|
private static double Distance(SmoothingPoint2D point, double x, double y) => Distance(point.X, point.Y, x, y);
|
|
private static double Distance(double x0, double y0, double x1, double y1)
|
|
{
|
|
double dx = x1 - x0;
|
|
double dy = y1 - y0;
|
|
return Math.Sqrt(dx * dx + dy * dy);
|
|
}
|
|
private static bool SameArc(double left, double right) => Math.Abs(left - right) <= 1e-10d;
|
|
private static IReadOnlyList<LocalG2CandidateGeometry> Empty() => new ReadOnlyCollection<LocalG2CandidateGeometry>(new List<LocalG2CandidateGeometry>());
|
|
private static IReadOnlyList<LocalG2CandidateGeometry> ReadOnly(List<LocalG2CandidateGeometry> values) =>
|
|
new ReadOnlyCollection<LocalG2CandidateGeometry>(values);
|
|
|
|
private readonly struct BoundaryNode
|
|
{
|
|
internal BoundaryNode(double arcLengthMeters, double x, double y, double vehicleHeadingRadians, double vehicleCurvaturePerMeter)
|
|
{
|
|
ArcLengthMeters = arcLengthMeters;
|
|
X = x;
|
|
Y = y;
|
|
VehicleHeadingRadians = vehicleHeadingRadians;
|
|
VehicleCurvaturePerMeter = vehicleCurvaturePerMeter;
|
|
DerivativeScale = 0d;
|
|
}
|
|
private BoundaryNode(double arcLengthMeters, double x, double y, double vehicleHeadingRadians,
|
|
double vehicleCurvaturePerMeter, double derivativeScale)
|
|
{
|
|
ArcLengthMeters = arcLengthMeters;
|
|
X = x;
|
|
Y = y;
|
|
VehicleHeadingRadians = vehicleHeadingRadians;
|
|
VehicleCurvaturePerMeter = vehicleCurvaturePerMeter;
|
|
DerivativeScale = derivativeScale;
|
|
}
|
|
internal double ArcLengthMeters { get; }
|
|
internal double X { get; }
|
|
internal double Y { get; }
|
|
internal double VehicleHeadingRadians { get; }
|
|
internal double VehicleCurvaturePerMeter { get; }
|
|
internal double DerivativeScale { get; }
|
|
internal BoundaryNode WithDerivativeScale(double derivativeScale) => new BoundaryNode(
|
|
ArcLengthMeters, X, Y, VehicleHeadingRadians, VehicleCurvaturePerMeter, derivativeScale);
|
|
}
|
|
|
|
private readonly struct CurveSample
|
|
{
|
|
internal CurveSample(double parameter, double x, double y, double dx, double dy)
|
|
{
|
|
Parameter = parameter;
|
|
X = x;
|
|
Y = y;
|
|
Dx = dx;
|
|
Dy = dy;
|
|
}
|
|
internal double Parameter { get; }
|
|
internal double X { get; }
|
|
internal double Y { get; }
|
|
internal double Dx { get; }
|
|
internal double Dy { get; }
|
|
}
|
|
|
|
private readonly struct DerivativeControlPoint
|
|
{
|
|
internal DerivativeControlPoint(double x, double y)
|
|
{
|
|
X = x;
|
|
Y = y;
|
|
}
|
|
internal double X { get; }
|
|
internal double Y { get; }
|
|
internal bool IsFinite => NumericGuard.IsFinite(X) && NumericGuard.IsFinite(Y);
|
|
internal double Norm => Math.Sqrt(X * X + Y * Y);
|
|
}
|
|
|
|
/// <summary>反射脚本使用的窄范围候选与拼接场景入口。</summary>
|
|
public static class TestHooks
|
|
{
|
|
public static CandidateTestSnapshot Execute(string scenario)
|
|
{
|
|
if (string.IsNullOrWhiteSpace(scenario)) throw new ArgumentException("A scenario is required.", nameof(scenario));
|
|
switch (scenario)
|
|
{
|
|
case "Isolated": return BuildIsolated();
|
|
case "Cluster": return BuildCluster();
|
|
case "Reverse": return BuildReverse();
|
|
case "Spliced": return BuildSpliced();
|
|
case "StartBoundary": return BuildStartBoundary();
|
|
case "InteriorStationaryCurve": return BuildInteriorStationaryCurve();
|
|
case "ConstantVelocityCurve": return BuildConstantVelocityCurve();
|
|
case "ExactSpliceEndpoints": return BuildExactSpliceEndpoints();
|
|
case "GearBoundary": return BuildGearBoundary();
|
|
case "TwoRegionWorkOrder": return BuildTwoRegionWorkOrder();
|
|
default: throw new ArgumentOutOfRangeException(nameof(scenario));
|
|
}
|
|
}
|
|
|
|
public sealed class CandidateTestSnapshot
|
|
{
|
|
internal CandidateTestSnapshot(int candidateCount, double startPositionError, double endPositionError,
|
|
double startCurvatureError, double endCurvatureError, bool containsLocalG2Source,
|
|
int outputRegionCount, bool internalConnectionsAreG2, string direction,
|
|
bool vehicleAndGeometricCurvatureSignsAreOpposite, bool noDuplicateNonGearPoints,
|
|
bool endpointsUnchanged, bool rejected = false, bool endpointsAreExact = false,
|
|
bool gearBoundaryMarkerPreserved = false, bool accepted = false,
|
|
bool workOrderDescending = false, bool frontArcPreservedAfterBackReplacement = false,
|
|
bool bothReplacementsRetained = false, bool forwardOrderRejected = false,
|
|
bool deterministicWorkOrder = false, bool invalidWorkOrderRejected = false)
|
|
{
|
|
CandidateCount = candidateCount;
|
|
StartPositionError = startPositionError;
|
|
EndPositionError = endPositionError;
|
|
StartCurvatureError = startCurvatureError;
|
|
EndCurvatureError = endCurvatureError;
|
|
ContainsLocalG2Source = containsLocalG2Source;
|
|
OutputRegionCount = outputRegionCount;
|
|
InternalConnectionsAreG2 = internalConnectionsAreG2;
|
|
Direction = direction;
|
|
VehicleAndGeometricCurvatureSignsAreOpposite = vehicleAndGeometricCurvatureSignsAreOpposite;
|
|
NoDuplicateNonGearPoints = noDuplicateNonGearPoints;
|
|
EndpointsUnchanged = endpointsUnchanged;
|
|
Rejected = rejected;
|
|
EndpointsAreExact = endpointsAreExact;
|
|
GearBoundaryMarkerPreserved = gearBoundaryMarkerPreserved;
|
|
Accepted = accepted;
|
|
WorkOrderDescending = workOrderDescending;
|
|
FrontArcPreservedAfterBackReplacement = frontArcPreservedAfterBackReplacement;
|
|
BothReplacementsRetained = bothReplacementsRetained;
|
|
ForwardOrderRejected = forwardOrderRejected;
|
|
DeterministicWorkOrder = deterministicWorkOrder;
|
|
InvalidWorkOrderRejected = invalidWorkOrderRejected;
|
|
}
|
|
public int CandidateCount { get; }
|
|
public double StartPositionError { get; }
|
|
public double EndPositionError { get; }
|
|
public double StartCurvatureError { get; }
|
|
public double EndCurvatureError { get; }
|
|
public bool ContainsLocalG2Source { get; }
|
|
public int OutputRegionCount { get; }
|
|
public bool InternalConnectionsAreG2 { get; }
|
|
public string Direction { get; }
|
|
public bool VehicleAndGeometricCurvatureSignsAreOpposite { get; }
|
|
public bool NoDuplicateNonGearPoints { get; }
|
|
public bool EndpointsUnchanged { get; }
|
|
public bool Rejected { get; }
|
|
public bool EndpointsAreExact { get; }
|
|
public bool GearBoundaryMarkerPreserved { get; }
|
|
public bool Accepted { get; }
|
|
public bool WorkOrderDescending { get; }
|
|
public bool FrontArcPreservedAfterBackReplacement { get; }
|
|
public bool BothReplacementsRetained { get; }
|
|
public bool ForwardOrderRejected { get; }
|
|
public bool DeterministicWorkOrder { get; }
|
|
public bool InvalidWorkOrderRejected { get; }
|
|
}
|
|
|
|
private static CandidateTestSnapshot BuildIsolated()
|
|
{
|
|
PreparedDirectionSegment segment = CreateSegment(TravelDirection.Forward, null);
|
|
LocalG2SmoothingRegion region = CreateRegion(new[]
|
|
{
|
|
new CurvatureTransition(0, 1, 2, 0.5d, 0.5d, 0d, 0d, 0d, 0.4d),
|
|
}, 0.25d, 0.75d);
|
|
IReadOnlyList<LocalG2CandidateGeometry> candidates = new LocalG2CandidateBuilder().Build(
|
|
segment, region, 0.025d, CreateOptions(), CancellationToken.None);
|
|
if (candidates.Count == 0) throw new InvalidOperationException("The isolated candidate scenario produced no candidate.");
|
|
LocalG2CandidateGeometry candidate = candidates[0];
|
|
PathReferenceInterpolator.TryInterpolateByArcLength(segment.Points, 0.25d, out SmoothingPoint2D start, out _);
|
|
PathReferenceInterpolator.TryInterpolateByArcLength(segment.Points, 0.75d, out SmoothingPoint2D end, out _);
|
|
return new CandidateTestSnapshot(candidates.Count,
|
|
Distance(start, candidate.RegionPoints[0]), Distance(end, candidate.RegionPoints[candidate.RegionPoints.Count - 1]),
|
|
Math.Abs(candidate.StartVehicleCurvaturePerMeter - 0d),
|
|
Math.Abs(candidate.EndVehicleCurvaturePerMeter - 0.4d),
|
|
ContainsLocalG2(candidate.RegionPoints), 0, false, string.Empty, false, false, false);
|
|
}
|
|
|
|
private static CandidateTestSnapshot BuildCluster()
|
|
{
|
|
PreparedDirectionSegment segment = CreateSegment(TravelDirection.Forward, null);
|
|
var transitions = new[]
|
|
{
|
|
new CurvatureTransition(0, 1, 2, 0.4d, 0.4d, 0d, 0d, 0d, 0.4d),
|
|
new CurvatureTransition(0, 2, 3, 0.6d, 0.6d, 0d, 0d, 0.4d, 0d),
|
|
};
|
|
var planner = new LocalG2WindowPlanner();
|
|
if (!planner.TryPlan(new PreparedPath(new[] { segment }), transitions, CreateOptions(),
|
|
out IReadOnlyList<LocalG2SmoothingRegion> regions, out string reason))
|
|
{
|
|
throw new InvalidOperationException(reason);
|
|
}
|
|
IReadOnlyList<LocalG2CandidateGeometry> candidates = new LocalG2CandidateBuilder().Build(
|
|
segment, regions[0], 0.025d, CreateOptions(), CancellationToken.None);
|
|
if (candidates.Count == 0) throw new InvalidOperationException("The clustered candidate scenario produced no candidate.");
|
|
return new CandidateTestSnapshot(0, 0d, 0d, 0d, 0d, false, regions.Count,
|
|
candidates[0].InternalConnectionsAreG2, string.Empty, false, false, false);
|
|
}
|
|
|
|
private static CandidateTestSnapshot BuildReverse()
|
|
{
|
|
PreparedDirectionSegment segment = CreateSegment(TravelDirection.Reverse, null);
|
|
LocalG2SmoothingRegion region = CreateRegion(new[]
|
|
{
|
|
new CurvatureTransition(0, 1, 2, 0.5d, 0.5d, 0d, Math.PI, 0.2d, 0.4d),
|
|
}, 0.25d, 0.75d);
|
|
IReadOnlyList<LocalG2CandidateGeometry> candidates = new LocalG2CandidateBuilder().Build(
|
|
segment, region, 0.025d, CreateOptions(), CancellationToken.None);
|
|
if (candidates.Count == 0) throw new InvalidOperationException("The reverse candidate scenario produced no candidate.");
|
|
LocalG2CandidateGeometry candidate = candidates[0];
|
|
bool opposite = candidate.StartVehicleCurvaturePerMeter * candidate.StartGeometricCurvaturePerMeter < 0d &&
|
|
candidate.EndVehicleCurvaturePerMeter * candidate.EndGeometricCurvaturePerMeter < 0d;
|
|
return new CandidateTestSnapshot(0, 0d, 0d, 0d, 0d, false, 0, false,
|
|
segment.Direction.ToString(), opposite, false, false);
|
|
}
|
|
|
|
private static CandidateTestSnapshot BuildSpliced()
|
|
{
|
|
PreparedDirectionSegment segment = CreateSegment(TravelDirection.Forward, 0.17d);
|
|
LocalG2SmoothingRegion region = CreateRegion(new[]
|
|
{
|
|
new CurvatureTransition(0, 1, 2, 0.5d, 0.5d, 0d, 0d, 0.17d, 0.4d),
|
|
}, 0.25d, 0.75d);
|
|
IReadOnlyList<LocalG2CandidateGeometry> candidates = new LocalG2CandidateBuilder().Build(
|
|
segment, region, 0.025d, CreateOptions(), CancellationToken.None);
|
|
if (candidates.Count == 0) throw new InvalidOperationException("The splice candidate scenario produced no candidate.");
|
|
PreparedDirectionSegment untouched = CreateSegment(TravelDirection.Reverse, null);
|
|
var path = new PreparedPath(new[] { segment, untouched });
|
|
if (!new LocalG2PathSplicer().TryReplace(path, candidates[0], out PreparedPath replaced, out string reason))
|
|
throw new InvalidOperationException(reason);
|
|
PreparedDirectionSegment result = replaced.Segments[0];
|
|
bool noDuplicates = true;
|
|
for (int index = 1; index < result.Points.Count; index++)
|
|
{
|
|
if (!result.Points[index - 1].IsGearSwitchPoint && !result.Points[index].IsGearSwitchPoint &&
|
|
Distance(result.Points[index - 1], result.Points[index]) <= 1e-12d)
|
|
{
|
|
noDuplicates = false;
|
|
break;
|
|
}
|
|
}
|
|
bool monotonicallyIncreasing = true;
|
|
for (int index = 1; index < result.Points.Count; index++)
|
|
{
|
|
if (result.Points[index].ArcLength <= result.Points[index - 1].ArcLength)
|
|
{
|
|
monotonicallyIncreasing = false;
|
|
break;
|
|
}
|
|
}
|
|
bool endpoints = Distance(segment.Points[0], result.Points[0]) <= 1e-12d &&
|
|
Distance(segment.Points[segment.Points.Count - 1], result.Points[result.Points.Count - 1]) <= 1e-12d &&
|
|
result.StartVehicleCurvaturePerMeter == segment.StartVehicleCurvaturePerMeter && monotonicallyIncreasing &&
|
|
ReferenceEquals(untouched, replaced.Segments[1]);
|
|
return new CandidateTestSnapshot(0, 0d, 0d, 0d, 0d, false, 0, false, string.Empty,
|
|
false, noDuplicates, endpoints);
|
|
}
|
|
|
|
private static CandidateTestSnapshot BuildStartBoundary()
|
|
{
|
|
PreparedDirectionSegment segment = CreateSegment(TravelDirection.Forward, 0.17d);
|
|
LocalG2SmoothingRegion region = CreateRegion(new[]
|
|
{
|
|
new CurvatureTransition(0, 0, 1, 0d, 0d, 0d, 0d, 0.17d, 0.4d),
|
|
}, 0d, 0.5d);
|
|
IReadOnlyList<LocalG2CandidateGeometry> candidates = new LocalG2CandidateBuilder().Build(
|
|
segment, region, 0.025d, CreateOptions(), CancellationToken.None);
|
|
if (candidates.Count == 0) throw new InvalidOperationException("The start-boundary transition must not create a zero-length left curve.");
|
|
LocalG2CandidateGeometry candidate = candidates[0];
|
|
return new CandidateTestSnapshot(candidates.Count,
|
|
Math.Abs(candidate.StartVehicleCurvaturePerMeter - 0.17d), 0d,
|
|
Math.Abs(candidate.StartVehicleCurvaturePerMeter - 0.17d), 0d,
|
|
ContainsLocalG2(candidate.RegionPoints), 0, false, string.Empty, false, false, false);
|
|
}
|
|
|
|
private static CandidateTestSnapshot BuildInteriorStationaryCurve()
|
|
{
|
|
const double endpointX = 0.00325d;
|
|
if (!QuinticHermiteCurve2D.TryCreate(0d, 0d, 0.01d, 0d, 0d, 0d,
|
|
endpointX, 0d, 0.01d, 0d, 0d, 0d, out QuinticHermiteCurve2D curve, out string reason))
|
|
{
|
|
throw new InvalidOperationException(reason);
|
|
}
|
|
var points = new[]
|
|
{
|
|
new SmoothingPoint2D(0d, 0d, 0d, 0d, 0d, 1d, false, SmoothedPathPointSource.Anchor),
|
|
new SmoothingPoint2D(endpointX, 0d, endpointX, 0d, 0d, 1d, false, SmoothedPathPointSource.Anchor),
|
|
};
|
|
var segment = new PreparedDirectionSegment(0, TravelDirection.Forward, points, false, false);
|
|
var sampled = new List<SmoothingPoint2D>();
|
|
bool accepted = TryAppendCurveSamples(curve,
|
|
new BoundaryNode(0d, 0d, 0d, 0d, 0d),
|
|
new BoundaryNode(endpointX, endpointX, 0d, 0d, 0d),
|
|
segment, 0.025d, sampled, CancellationToken.None);
|
|
return new CandidateTestSnapshot(0, 0d, 0d, 0d, 0d, false, 0, false, string.Empty,
|
|
false, false, false, !accepted);
|
|
}
|
|
|
|
private static CandidateTestSnapshot BuildConstantVelocityCurve()
|
|
{
|
|
if (!QuinticHermiteCurve2D.TryCreate(0d, 0d, 1d, 0d, 0d, 0d,
|
|
1d, 0d, 1d, 0d, 0d, 0d, out QuinticHermiteCurve2D curve, out string reason))
|
|
{
|
|
throw new InvalidOperationException(reason);
|
|
}
|
|
var points = new[]
|
|
{
|
|
new SmoothingPoint2D(0d, 0d, 0d, 0d, 0d, 1d, false, SmoothedPathPointSource.Anchor),
|
|
new SmoothingPoint2D(1d, 0d, 1d, 0d, 0d, 1d, false, SmoothedPathPointSource.Anchor),
|
|
};
|
|
var segment = new PreparedDirectionSegment(0, TravelDirection.Forward, points, false, false);
|
|
var sampled = new List<SmoothingPoint2D>();
|
|
bool accepted = TryAppendCurveSamples(curve,
|
|
new BoundaryNode(0d, 0d, 0d, 0d, 0d),
|
|
new BoundaryNode(1d, 1d, 0d, 0d, 0d),
|
|
segment, 0.025d, sampled, CancellationToken.None);
|
|
return new CandidateTestSnapshot(0, 0d, 0d, 0d, 0d, false, 0, false, string.Empty,
|
|
false, false, false, false, false, false, accepted);
|
|
}
|
|
|
|
private static CandidateTestSnapshot BuildExactSpliceEndpoints()
|
|
{
|
|
PreparedDirectionSegment segment = CreateSegment(TravelDirection.Forward, null);
|
|
var candidate = new LocalG2CandidateGeometry(0, 0, 0.25d, 0.75d, 0.25d, 0.25d,
|
|
new[]
|
|
{
|
|
Point(0.2500000005d, 0d, 0.25d, false),
|
|
Point(0.5d, 0d, 0.5d, false),
|
|
Point(0.7499999995d, 0d, 0.75d, false),
|
|
}, 0d, 0d, 0d, 0d, true);
|
|
if (!new LocalG2PathSplicer().TryReplace(new PreparedPath(new[] { segment }), candidate,
|
|
out PreparedPath replaced, out string reason))
|
|
{
|
|
throw new InvalidOperationException(reason);
|
|
}
|
|
PathReferenceInterpolator.TryInterpolateByArcLength(segment.Points, 0.25d, out SmoothingPoint2D start, out _);
|
|
PathReferenceInterpolator.TryInterpolateByArcLength(segment.Points, 0.75d, out SmoothingPoint2D end, out _);
|
|
IReadOnlyList<SmoothingPoint2D> result = replaced.Segments[0].Points;
|
|
bool exact = result[1].X == start.X && result[1].Y == start.Y &&
|
|
result[result.Count - 2].X == end.X && result[result.Count - 2].Y == end.Y;
|
|
return new CandidateTestSnapshot(0, 0d, 0d, 0d, 0d, false, 0, false, string.Empty,
|
|
false, false, false, false, exact);
|
|
}
|
|
|
|
private static CandidateTestSnapshot BuildGearBoundary()
|
|
{
|
|
var sourcePoints = new[]
|
|
{
|
|
Point(0d, 0d, 0d, true), Point(0.25d, 0d, 0.25d, false), Point(0.5d, 0d, 0.5d, false),
|
|
};
|
|
var segment = new PreparedDirectionSegment(0, TravelDirection.Forward, sourcePoints, true, false);
|
|
var candidate = new LocalG2CandidateGeometry(0, 0, 0d, 0.5d, 0d, 0.5d,
|
|
new[] { Point(0d, 0d, 0d, false), Point(0.25d, 0d, 0.25d, false), Point(0.5d, 0d, 0.5d, false) },
|
|
0d, 0d, 0d, 0d, true);
|
|
if (!new LocalG2PathSplicer().TryReplace(new PreparedPath(new[] { segment }), candidate,
|
|
out PreparedPath replaced, out string reason))
|
|
{
|
|
throw new InvalidOperationException(reason);
|
|
}
|
|
bool preserved = replaced.Segments[0].StartsAtGearSwitch && replaced.Segments[0].Points[0].IsGearSwitchPoint;
|
|
return new CandidateTestSnapshot(0, 0d, 0d, 0d, 0d, false, 0, false, string.Empty,
|
|
false, false, false, false, false, preserved);
|
|
}
|
|
|
|
private static CandidateTestSnapshot BuildTwoRegionWorkOrder()
|
|
{
|
|
var points = new List<SmoothingPoint2D>();
|
|
for (int index = 0; index <= 12; index++)
|
|
{
|
|
double arc = index * 0.25d;
|
|
points.Add(new SmoothingPoint2D(
|
|
arc,
|
|
0d,
|
|
arc,
|
|
0d,
|
|
0d,
|
|
1d,
|
|
false,
|
|
SmoothedPathPointSource.Anchor));
|
|
}
|
|
|
|
var segment = new PreparedDirectionSegment(
|
|
0,
|
|
TravelDirection.Forward,
|
|
points,
|
|
false,
|
|
false);
|
|
var original = new PreparedPath(new[] { segment });
|
|
LocalG2SmoothingRegion frontRegion = CreateOrderedRegion(0.75d, 0.5d, 1.0d, 0);
|
|
LocalG2SmoothingRegion backRegion = CreateOrderedRegion(2.25d, 2.0d, 2.5d, 1);
|
|
var reportOrder = new[] { frontRegion, backRegion };
|
|
|
|
var orderer = new LocalG2RegionWorkOrder();
|
|
if (!orderer.TryCreate(
|
|
reportOrder,
|
|
out IReadOnlyList<LocalG2SmoothingRegion> workOrder,
|
|
out string orderReason))
|
|
{
|
|
throw new InvalidOperationException(orderReason);
|
|
}
|
|
if (!orderer.TryCreate(
|
|
reportOrder,
|
|
out IReadOnlyList<LocalG2SmoothingRegion> repeatedOrder,
|
|
out string repeatedReason))
|
|
{
|
|
throw new InvalidOperationException(repeatedReason);
|
|
}
|
|
|
|
bool descending =
|
|
ReferenceEquals(backRegion, workOrder[0]) &&
|
|
ReferenceEquals(frontRegion, workOrder[1]);
|
|
bool deterministic =
|
|
ReferenceEquals(workOrder[0], repeatedOrder[0]) &&
|
|
ReferenceEquals(workOrder[1], repeatedOrder[1]) &&
|
|
ReferenceEquals(frontRegion, reportOrder[0]) &&
|
|
ReferenceEquals(backRegion, reportOrder[1]);
|
|
|
|
var wrongSegmentTransition = new CurvatureTransition(
|
|
1,
|
|
0,
|
|
1,
|
|
0.75d,
|
|
0.75d,
|
|
0d,
|
|
0d,
|
|
0d,
|
|
0.4d);
|
|
var invalidRegion = new LocalG2SmoothingRegion(
|
|
0,
|
|
new[] { wrongSegmentTransition },
|
|
0.5d,
|
|
1.0d,
|
|
new[]
|
|
{
|
|
new LocalG2WindowVariant(0, 0.5d, 1.0d, 0.25d, 0.25d),
|
|
});
|
|
bool invalidWorkOrderRejected =
|
|
!orderer.TryCreate(
|
|
new[] { invalidRegion },
|
|
out _,
|
|
out _) &&
|
|
!orderer.TryCreate(
|
|
new LocalG2SmoothingRegion[] { null },
|
|
out _,
|
|
out _);
|
|
|
|
LocalG2CandidateGeometry frontCandidate =
|
|
CreateLengthChangingCandidate(0, 0.5d, 1.0d);
|
|
LocalG2CandidateGeometry backCandidate =
|
|
CreateLengthChangingCandidate(1, 2.0d, 2.5d);
|
|
var splicer = new LocalG2PathSplicer();
|
|
|
|
if (!splicer.TryReplace(
|
|
original,
|
|
backCandidate,
|
|
out PreparedPath afterBack,
|
|
out string backReason))
|
|
{
|
|
throw new InvalidOperationException(backReason);
|
|
}
|
|
|
|
bool frontArcPreserved =
|
|
PathReferenceInterpolator.TryInterpolateByArcLength(
|
|
afterBack.Segments[0].Points,
|
|
0.5d,
|
|
out SmoothingPoint2D frontStart,
|
|
out _) &&
|
|
PathReferenceInterpolator.TryInterpolateByArcLength(
|
|
afterBack.Segments[0].Points,
|
|
1.0d,
|
|
out SmoothingPoint2D frontEnd,
|
|
out _) &&
|
|
Math.Abs(frontStart.X - 0.5d) <= 1e-12d &&
|
|
Math.Abs(frontEnd.X - 1.0d) <= 1e-12d;
|
|
|
|
if (!splicer.TryReplace(
|
|
afterBack,
|
|
frontCandidate,
|
|
out PreparedPath afterBoth,
|
|
out string frontReason))
|
|
{
|
|
throw new InvalidOperationException(frontReason);
|
|
}
|
|
|
|
int localG2PointCount = 0;
|
|
for (int index = 0; index < afterBoth.Segments[0].Points.Count; index++)
|
|
{
|
|
if (afterBoth.Segments[0].Points[index].Source ==
|
|
SmoothedPathPointSource.LocalG2Transition)
|
|
{
|
|
localG2PointCount++;
|
|
}
|
|
}
|
|
|
|
if (!splicer.TryReplace(
|
|
original,
|
|
frontCandidate,
|
|
out PreparedPath afterFront,
|
|
out string firstReason))
|
|
{
|
|
throw new InvalidOperationException(firstReason);
|
|
}
|
|
bool forwardOrderRejected = !splicer.TryReplace(
|
|
afterFront,
|
|
backCandidate,
|
|
out _,
|
|
out _);
|
|
|
|
return new CandidateTestSnapshot(
|
|
0,
|
|
0d,
|
|
0d,
|
|
0d,
|
|
0d,
|
|
false,
|
|
0,
|
|
false,
|
|
string.Empty,
|
|
false,
|
|
false,
|
|
false,
|
|
false,
|
|
false,
|
|
false,
|
|
false,
|
|
descending,
|
|
frontArcPreserved,
|
|
localG2PointCount >= 2,
|
|
forwardOrderRejected,
|
|
deterministic,
|
|
invalidWorkOrderRejected);
|
|
}
|
|
|
|
private static LocalG2SmoothingRegion CreateOrderedRegion(
|
|
double eventArc,
|
|
double startArc,
|
|
double endArc,
|
|
int index)
|
|
{
|
|
var transition = new CurvatureTransition(
|
|
0,
|
|
index,
|
|
index + 1,
|
|
eventArc,
|
|
eventArc,
|
|
0d,
|
|
0d,
|
|
0d,
|
|
0.4d);
|
|
return new LocalG2SmoothingRegion(
|
|
0,
|
|
new[] { transition },
|
|
startArc,
|
|
endArc,
|
|
new[]
|
|
{
|
|
new LocalG2WindowVariant(
|
|
0,
|
|
startArc,
|
|
endArc,
|
|
eventArc - startArc,
|
|
endArc - eventArc),
|
|
});
|
|
}
|
|
|
|
private static LocalG2CandidateGeometry CreateLengthChangingCandidate(
|
|
int candidateIndex,
|
|
double startArc,
|
|
double endArc)
|
|
{
|
|
double middleArc = 0.5d * (startArc + endArc);
|
|
var points = new[]
|
|
{
|
|
Point(startArc, 0d, startArc, false),
|
|
Point(middleArc, 0.20d, middleArc, false),
|
|
Point(endArc, 0d, endArc, false),
|
|
};
|
|
return new LocalG2CandidateGeometry(
|
|
candidateIndex,
|
|
0,
|
|
startArc,
|
|
endArc,
|
|
middleArc - startArc,
|
|
endArc - middleArc,
|
|
points,
|
|
0d,
|
|
0d,
|
|
0d,
|
|
0d,
|
|
true);
|
|
}
|
|
|
|
private static PreparedDirectionSegment CreateSegment(TravelDirection direction, double? startCurvature)
|
|
{
|
|
double heading = direction == TravelDirection.Forward ? 0d : Math.PI;
|
|
var points = new List<SmoothingPoint2D>();
|
|
for (int index = 0; index <= 4; index++)
|
|
{
|
|
double arc = index * 0.25d;
|
|
points.Add(new SmoothingPoint2D(arc, 0d, arc, heading, heading, 1d, false, SmoothedPathPointSource.Anchor));
|
|
}
|
|
return new PreparedDirectionSegment(0, direction, points, false, false, startCurvature);
|
|
}
|
|
|
|
private static LocalG2SmoothingRegion CreateRegion(
|
|
IReadOnlyList<CurvatureTransition> transitions,
|
|
double startArcLengthMeters,
|
|
double endArcLengthMeters)
|
|
{
|
|
return new LocalG2SmoothingRegion(0, transitions, startArcLengthMeters, endArcLengthMeters,
|
|
new[] { new LocalG2WindowVariant(0, startArcLengthMeters, endArcLengthMeters,
|
|
transitions[0].LocalArcLengthMeters - startArcLengthMeters,
|
|
endArcLengthMeters - transitions[transitions.Count - 1].LocalArcLengthMeters) });
|
|
}
|
|
|
|
private static LocalG2OptionsSnapshot CreateOptions() => new LocalG2OptionsSnapshot(new PathSmoothingConfiguration());
|
|
private static bool ContainsLocalG2(IReadOnlyList<SmoothingPoint2D> points)
|
|
{
|
|
for (int index = 0; index < points.Count; index++)
|
|
if (points[index].Source == SmoothedPathPointSource.LocalG2Transition) return true;
|
|
return false;
|
|
}
|
|
private static double Distance(SmoothingPoint2D left, SmoothingPoint2D right) =>
|
|
Math.Sqrt((right.X - left.X) * (right.X - left.X) + (right.Y - left.Y) * (right.Y - left.Y));
|
|
private static SmoothingPoint2D Point(double x, double y, double arcLength, bool isGearSwitch) =>
|
|
new SmoothingPoint2D(x, y, arcLength, 0d, 0d, 1d, isGearSwitch,
|
|
isGearSwitch ? SmoothedPathPointSource.GearSwitch : SmoothedPathPointSource.LocalG2Transition);
|
|
}
|
|
}
|